DE60004302D1 - Schreitroboter mit Beinen - Google Patents
Schreitroboter mit BeinenInfo
- Publication number
- DE60004302D1 DE60004302D1 DE60004302T DE60004302T DE60004302D1 DE 60004302 D1 DE60004302 D1 DE 60004302D1 DE 60004302 T DE60004302 T DE 60004302T DE 60004302 T DE60004302 T DE 60004302T DE 60004302 D1 DE60004302 D1 DE 60004302D1
- Authority
- DE
- Germany
- Prior art keywords
- leg members
- links
- parallel linkage
- lower links
- vertical direction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Walking Sticks, Umbrellas, And Fans (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP24344899 | 1999-08-30 | ||
JP24344899A JP4213310B2 (ja) | 1999-08-30 | 1999-08-30 | 2足歩行脚式移動ロボット |
Publications (2)
Publication Number | Publication Date |
---|---|
DE60004302D1 true DE60004302D1 (de) | 2003-09-11 |
DE60004302T2 DE60004302T2 (de) | 2004-06-24 |
Family
ID=17104041
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE60004302T Expired - Lifetime DE60004302T2 (de) | 1999-08-30 | 2000-08-30 | Schreitroboter mit Beinen |
Country Status (6)
Country | Link |
---|---|
US (1) | US6564888B1 (de) |
EP (1) | EP1081027B1 (de) |
JP (1) | JP4213310B2 (de) |
KR (1) | KR100385424B1 (de) |
AT (1) | ATE246626T1 (de) |
DE (1) | DE60004302T2 (de) |
Families Citing this family (61)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3435666B2 (ja) * | 1999-09-07 | 2003-08-11 | ソニー株式会社 | ロボット |
JP4480843B2 (ja) * | 2000-04-03 | 2010-06-16 | ソニー株式会社 | 脚式移動ロボット及びその制御方法、並びに、脚式移動ロボット用相対移動測定センサ |
CN100389937C (zh) * | 2000-09-29 | 2008-05-28 | 本田技研工业株式会社 | 双脚行走机器人 |
US7073614B2 (en) * | 2000-10-12 | 2006-07-11 | Honda Giken Kogyo Kabushiki Kaisha | Bipedal robot with storage battery |
RU2262435C2 (ru) * | 2000-11-17 | 2005-10-20 | Хонда Гикен Когио Кабусики Кайся | Двуногий локомоционный робот |
EP1361027B1 (de) * | 2000-11-17 | 2007-01-17 | Honda Giken Kogyo Kabushiki Kaisha | Gangmustererzeugungsvorrichtung für beweglichen roboter mit beinen |
JP4188607B2 (ja) * | 2001-06-27 | 2008-11-26 | 本田技研工業株式会社 | 二足歩行移動体の床反力推定方法及び二足歩行移動体の関節モーメント推定方法 |
CN100503179C (zh) * | 2001-08-01 | 2009-06-24 | 索尼公司 | 以腿行走的机器人与对其动作的控制方法 |
JP3603279B2 (ja) * | 2001-09-26 | 2004-12-22 | 独立行政法人科学技術振興機構 | 二脚歩行式人型ロボット |
JP3674778B2 (ja) * | 2001-09-27 | 2005-07-20 | 本田技研工業株式会社 | 脚式移動ロボットの脚体関節アシスト装置 |
JP3574951B2 (ja) * | 2001-12-19 | 2004-10-06 | 独立行政法人 科学技術振興機構 | 二脚歩行式移動装置及びその歩行制御装置及び歩行制御方法 |
JP3574952B2 (ja) * | 2002-02-18 | 2004-10-06 | 独立行政法人 科学技術振興機構 | 二脚歩行式移動装置及びその歩行制御装置 |
US7145305B2 (en) * | 2002-04-26 | 2006-12-05 | Honda Giken Kogyo Kabushiki Kaisha | System for estimating attitude of leg type moving robot itself |
JP4049644B2 (ja) * | 2002-09-13 | 2008-02-20 | 川田工業株式会社 | 歩行ロボットの衝撃吸収機構 |
JP4009176B2 (ja) * | 2002-10-11 | 2007-11-14 | 株式会社キューブ | 二足歩行玩具 |
JP3994956B2 (ja) * | 2002-12-18 | 2007-10-24 | ソニー株式会社 | ロボット装置、並びに負荷吸収装置及び負荷吸収方法 |
US6989645B2 (en) * | 2002-12-18 | 2006-01-24 | Sony Corporation | Robot apparatus, and load absorbing apparatus and method |
JP4299567B2 (ja) * | 2003-03-31 | 2009-07-22 | 本田技研工業株式会社 | 脚式移動ロボット |
JP4299583B2 (ja) | 2003-05-20 | 2009-07-22 | 本田技研工業株式会社 | 脚式移動ロボット |
JP4662705B2 (ja) * | 2003-12-01 | 2011-03-30 | 川田工業株式会社 | 人型ロボットの腰ヨー軸駆動装置 |
US7734375B2 (en) * | 2004-06-09 | 2010-06-08 | Boston Dynamics | Robot and robot leg mechanism |
WO2006040868A1 (ja) * | 2004-10-15 | 2006-04-20 | Honda Motor Co., Ltd. | 脚式移動ロボットの歩容生成装置 |
JP2006136962A (ja) * | 2004-11-11 | 2006-06-01 | Hitachi Ltd | 移動ロボット |
JP4440761B2 (ja) * | 2004-12-24 | 2010-03-24 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
JP4458049B2 (ja) * | 2006-03-01 | 2010-04-28 | トヨタ自動車株式会社 | 脚式ロボット |
JP4539618B2 (ja) * | 2006-07-31 | 2010-09-08 | トヨタ自動車株式会社 | 脚式ロボット |
JP4930003B2 (ja) * | 2006-11-20 | 2012-05-09 | 株式会社日立製作所 | 移動ロボット |
DE102007005330A1 (de) * | 2007-01-29 | 2008-07-31 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Elektromotorsystem und Baukasten hierfür |
US20080297091A1 (en) * | 2007-05-31 | 2008-12-04 | Samsung Electronics Co., Ltd. | Foot of walking robot and walking robot having the same |
JP4847401B2 (ja) * | 2007-06-18 | 2011-12-28 | 本田技研工業株式会社 | 移動ロボットの駆動装置 |
GB2451083A (en) * | 2007-07-17 | 2009-01-21 | Triple One Co Ltd | Figure toy with moving head, body and limbs |
CN101121424B (zh) * | 2007-09-07 | 2011-02-23 | 哈尔滨工程大学 | 多自由度的双足机器人下肢机构 |
WO2009054103A1 (ja) | 2007-10-23 | 2009-04-30 | Honda Motor Co., Ltd. | 2足歩行ロボット |
KR101484943B1 (ko) * | 2008-05-30 | 2015-01-21 | 삼성전자 주식회사 | 보행로봇 |
KR101464125B1 (ko) | 2008-06-05 | 2014-12-04 | 삼성전자주식회사 | 보행로봇 |
US7942221B1 (en) * | 2008-06-20 | 2011-05-17 | Wowwee Group Limited | Method and system for enabling bi-pedal locomotion |
KR20100028358A (ko) * | 2008-09-04 | 2010-03-12 | 삼성전자주식회사 | 로봇 및 그 안전제어방법 |
KR20110047847A (ko) * | 2009-10-30 | 2011-05-09 | 삼성전자주식회사 | 휴머노이드 로봇 및 그 제어방법 |
CN101811525B (zh) * | 2010-04-23 | 2012-05-23 | 山东大学 | 具有质心调整装置的液压驱动四足机器人移动机构 |
CN102336230B (zh) * | 2010-07-23 | 2014-10-01 | 机器时代(北京)科技有限公司 | 一种无动力行走双足机构 |
JP5605624B2 (ja) * | 2010-08-19 | 2014-10-15 | 独立行政法人産業技術総合研究所 | 歩行ロボットのzmp制御装置 |
CN102390456A (zh) * | 2011-10-09 | 2012-03-28 | 上海理工大学 | 双足机器人 |
CN102700647A (zh) * | 2012-01-19 | 2012-10-03 | 龙梅 | 一种矿用自动变速搜救机器人 |
CN102849141B (zh) * | 2012-03-31 | 2014-11-12 | 浙江工业大学 | 一种三轮足式串并混联机器人 |
US9044863B2 (en) | 2013-02-06 | 2015-06-02 | Steelcase Inc. | Polarized enhanced confidentiality in mobile camera applications |
DE102013104166B4 (de) * | 2013-04-24 | 2016-06-09 | Tino Werner | Schreitroboter mit verbesserter Mechanik |
JP6104867B2 (ja) * | 2014-09-19 | 2017-03-29 | Thk株式会社 | ロボット上半身の支持構造 |
CN104309716B (zh) * | 2014-09-30 | 2016-09-07 | 山东大学 | 仿生四足机器人 |
CN104626902A (zh) * | 2015-02-03 | 2015-05-20 | 北京理工大学 | 多自由度两栖球形机器人 |
US9555846B1 (en) * | 2015-03-20 | 2017-01-31 | Google Inc. | Pelvis structure for humanoid robot |
CN105691482A (zh) * | 2015-12-31 | 2016-06-22 | 重庆楠婧琳科技开发有限公司 | 机器人 |
CN105711677B (zh) * | 2016-03-16 | 2023-11-21 | 平湖西技双臂智能机器人有限公司 | 一种越障机器人 |
JP6660242B2 (ja) * | 2016-04-25 | 2020-03-11 | 本田技研工業株式会社 | ロボットの制御信号を伝送するための光ファイバ配線構造 |
US11142267B2 (en) * | 2016-06-08 | 2021-10-12 | Nintendo Co., Ltd. | Passive walking apparatus and passive walking module |
CN106426263B (zh) * | 2016-10-16 | 2018-08-17 | 福州幻科机电科技有限公司 | 一种仿真智能机器人的髋关节总成 |
CN106741287B (zh) * | 2017-01-17 | 2018-10-12 | 北京交通大学 | 一种具有并联腿部结构的双足步行机器人机构 |
US11221497B2 (en) | 2017-06-05 | 2022-01-11 | Steelcase Inc. | Multiple-polarization cloaking |
US10719085B2 (en) * | 2018-02-22 | 2020-07-21 | Boston Dynamics, Inc. | Mobile robot sitting and standing |
US11106124B2 (en) | 2018-02-27 | 2021-08-31 | Steelcase Inc. | Multiple-polarization cloaking for projected and writing surface view screens |
CN108749950A (zh) * | 2018-06-07 | 2018-11-06 | 合肥工业大学 | 一种用于可变胞无人地面移动系统的三自由度髋关节机构 |
CN109178135B (zh) * | 2018-08-20 | 2020-02-07 | 北京交通大学 | 一种双驱动模式闭链腿部机构 |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6297006A (ja) | 1985-10-23 | 1987-05-06 | Hitachi Ltd | 多関節歩行ロボツト制御装置 |
JPS6297005A (ja) | 1985-10-23 | 1987-05-06 | Hitachi Ltd | 多関節ロボツトの制御装置 |
CA1260986A (en) * | 1985-12-11 | 1989-09-26 | Frank R. Bubic | Artificial musculoskeletal mechanism |
JPH0347984Y2 (de) * | 1985-12-19 | 1991-10-14 | ||
US4862980A (en) * | 1988-10-06 | 1989-09-05 | Quest Systems, Inc. | Walking machine |
JPH02160482A (ja) | 1988-12-07 | 1990-06-20 | Toshiba Corp | 歩行ロボット |
DE4030119A1 (de) * | 1990-09-24 | 1992-03-26 | Uwe Kochanneck | Multiblock-robot |
US5158493A (en) * | 1991-05-30 | 1992-10-27 | Richard Morgrey | Remote controlled, multi-legged, walking robot |
JPH0562363A (ja) | 1991-08-30 | 1993-03-12 | Victor Co Of Japan Ltd | 記録再生方法 |
JP3132156B2 (ja) * | 1992-05-22 | 2001-02-05 | 本田技研工業株式会社 | 脚式移動ロボットの歩容生成装置 |
DE69307023T2 (de) * | 1992-05-26 | 1997-04-17 | Honda Motor Co Ltd | Beweglicher Roboter mit Beinen |
JPH07205070A (ja) * | 1993-12-30 | 1995-08-08 | Honda Motor Co Ltd | 脚式移動ロボットの歩行制御装置 |
JP3429048B2 (ja) | 1993-12-30 | 2003-07-22 | 本田技研工業株式会社 | 脚式移動ロボットの歩行制御装置 |
US5758734A (en) * | 1996-01-19 | 1998-06-02 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
FI100873B (fi) * | 1996-09-25 | 1998-03-13 | Plustech Oy | Toimilaite kääntövarren kääntöliikkeen aikaansaamiseksi |
US5807011A (en) * | 1996-10-07 | 1998-09-15 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
JP3672406B2 (ja) * | 1997-01-31 | 2005-07-20 | 本田技研工業株式会社 | 脚式移動ロボットの歩容生成装置 |
JP3649865B2 (ja) | 1997-07-23 | 2005-05-18 | 本田技研工業株式会社 | 脚式移動ロボットの脚構造 |
-
1999
- 1999-08-30 JP JP24344899A patent/JP4213310B2/ja not_active Expired - Fee Related
-
2000
- 2000-08-02 US US09/630,742 patent/US6564888B1/en not_active Expired - Fee Related
- 2000-08-30 AT AT00307459T patent/ATE246626T1/de not_active IP Right Cessation
- 2000-08-30 EP EP00307459A patent/EP1081027B1/de not_active Expired - Lifetime
- 2000-08-30 KR KR10-2000-0050862A patent/KR100385424B1/ko not_active IP Right Cessation
- 2000-08-30 DE DE60004302T patent/DE60004302T2/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JP4213310B2 (ja) | 2009-01-21 |
EP1081027B1 (de) | 2003-08-06 |
EP1081027A2 (de) | 2001-03-07 |
US6564888B1 (en) | 2003-05-20 |
KR20010050273A (ko) | 2001-06-15 |
EP1081027A3 (de) | 2001-10-31 |
KR100385424B1 (ko) | 2003-05-27 |
ATE246626T1 (de) | 2003-08-15 |
JP2001062761A (ja) | 2001-03-13 |
DE60004302T2 (de) | 2004-06-24 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition |